Road management system

ABSTRACT

A road management system includes: an avoiding action detecting section that detects an avoiding action of a moving body (a vehicle, a first vehicle) moving along a road; a position detecting section that detects a position of the moving body (the vehicle, the first vehicle); an avoidance position determining section that determines an avoidance position where the avoiding action has occurred, based on a detection result of the avoiding action detecting section and a detection result of the position detecting section; and an imaging section that images a road surface of the avoidance position.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2019-032474 filed on Feb. 26, 2019, thecontents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to a road management system that acquiresan image of a road surface.

Description of the Related Art

Japanese Patent No. 5853719 discloses: an image processing system thatdetects a state (a dry state or a frozen state) of a road surface andutilizes the detected state for such objects as calling attention of adriver to the detected state; and a vehicle comprising the imageprocessing system.

SUMMARY OF THE INVENTION

In the case of using the system of Japanese Patent No. 5853719 with anobject of analyzing an abnormality unexpectedly present in the roadsurface, it is required that analysis of the road surface is performedcontinuously, regardless of presence/absence of an abnormality.Therefore, a load of arithmetic processing increases.

The present invention, which was made considering such a problem, has anobject of providing a road management system that can suppress a load ofarithmetic processing when performing analysis of a road surface.

An aspect of the present invention comprises:

an avoiding action detecting section configured to detect an avoidingaction of a moving body moving along a road;

a position detecting section configured to detect a position of themoving body;

an avoidance position determining section configured to determine anavoidance position where the avoiding action has occurred, based on adetection result of the avoiding action detecting section and adetection result of the position detecting section; and

an imaging section configured to image a road surface of the avoidanceposition.

According to the present invention, the load of arithmetic processingwhen performing analysis of the road surface can be suppressed.

The above and other objects, features, and advantages of the presentinvention will become more apparent from the following description whentaken in conjunction with the accompanying drawings, in which preferredembodiments of the present invention are shown by way of illustrativeexample.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of a road management system according to afirst embodiment;

FIG. 2 is a configuration diagram of a vehicle in the first embodiment;

FIG. 3 is a sequence chart of the first embodiment;

FIG. 4 is a schematic view of a road management system according to asecond embodiment;

FIG. 5 is configuration diagram of a first vehicle and a second vehiclein the second and a third embodiment;

FIG. 6 is a sequence chart of the second and third embodiments;

FIG. 7 is a schematic view of a road management system according to thethird embodiment;

FIG. 8 is a schematic view of a road management system according to afourth embodiment;

FIG. 9 is a configuration diagram of a second vehicle in the fourthembodiment;

FIG. 10 is a sequence chart of the fourth embodiment; and

FIG. 11 is a flowchart of processing performed by a server in the fourthembodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Preferred embodiments of a road management system according to thepresent invention will be presented and described in detail below withreference to the accompanying drawings.

1. First Embodiment

As shown in FIG. 1, in a road management system 10 according to a firstembodiment, when an avoiding action has been performed by a vehicle 20(a moving body) moving along a road 70, an image of an avoidanceposition 74 is transmitted to a server 50 from that vehicle 20. Here, atwo-wheeled vehicle is assumed as a kind of the vehicle 20. However, thekind of the vehicle 20 may be a four-wheeled vehicle, not a two-wheeledvehicle.

The server 50 is a computer and includes a server arithmetic section 52and a server recording section 54. The server arithmetic section 52 isconfigured by a processor comprising the likes of a CPU, for example.The server arithmetic section 52 realizes various kinds of functions byexecuting a program recorded in the server recording section 54. Theserver recording section 54 is configured by a RAM, a ROM, or the like.

[1.1 Configuration of Vehicle 20]

A configuration of the vehicle 20 will be described using FIG. 2. Thevehicle 20 includes an imaging section 22, an avoiding action detectingsection 24, a position detecting section 26, a network communicationsection 28, and an ECU 30.

The imaging section 22 includes at least one camera, and images a roadsurface in front of the vehicle 20. The imaging section 22 outputs animage of the road surface to the ECU 30. The avoiding action detectingsection 24 includes the likes of a gyro sensor or steering angle sensor,for example, and detects a turning action and an avoiding actionperformed by the vehicle 20 on the road 70. In the presentspecification, an avoiding action refers to consecutive turning actionsto right and left performed by the vehicle 20 within a certain time orwithin a certain distance. The avoiding action detecting section 24outputs detected information to the ECU 30. The position detectingsection 26 is a navigation device that includes, for example, mapinformation, a GNSS module, an acceleration sensor, a gyro sensor, andso on, and detects a position of the vehicle 20 using at least one ofsatellite navigation and inertial navigation. The position detectingsection 26 outputs detected information to the ECU 30.

The network communication section 28 transmits to the server 50 via apublic line 60 information generated by a vehicle arithmetic section 34or information recorded in a vehicle recording section 36, and,moreover, receives information transmitted via the public line 60 fromthe server 50, and outputs the received information to the vehiclearithmetic section 34 or the vehicle recording section 36.

The ECU 30 includes an input/output section 32, the vehicle arithmeticsection 34, and the vehicle recording section 36. The input/outputsection 32 is configured by an A/D converter circuit, a communicationinterface, a driver, and so on. The vehicle arithmetic section 34 isconfigured by a processor comprising the likes of a CPU, for example.The vehicle arithmetic section 34 realizes various kinds of functions byexecuting a program recorded in the vehicle recording section 36. Here,the vehicle arithmetic section 34 functions as an avoidance positiondetermining section 38, an information processing section 40, and acontrol section 42. The avoidance position determining section 38determines a position where the avoiding action has occurred (hereaftercalled the avoidance position 74), based on a detection result of theavoiding action detecting section 24 and a detection result of theposition detecting section 26. The information processing section 40associates image information and position information, and records theassociated image information and position information in the vehiclerecording section 36. The control section 42 controls various kinds ofinstruments. The vehicle recording section 36 is configured by a RAM, aROM, or the like. The vehicle recording section 36 records various kindsof programs, and various kinds of information used in processingperformed by the vehicle arithmetic section 34. Moreover, the vehiclerecording section 36 records associated with each other the positioninformation and image information from a latest time to a predeterminedtime before. The position information and the image information may beassociated with time information, for example, an imaging time of theimage, or a road passing time.

[1.2 Processing]

Processing performed by the road management system 10 according to thefirst embodiment will be described using FIG. 3. The processing below isperformed during running of the vehicle 20.

In step S1, the control section 42 controls the imaging section 22 toimage the road surface. Thereafter, the imaging section 22 continuesimaging. Moreover, the avoidance position determining section 38monitors turning action of the vehicle 20 based on the detection resultof the avoiding action detecting section 24. Now, the informationprocessing section 40 associates image information of the road surfaceimaged by the imaging section 22 and position information detected bythe position detecting section 26, and records the associated imageinformation and position information in the vehicle recording section36. Moreover, the information processing section 40 records, in thevehicle recording section 36, turning position information indicating aposition where a turning action has been performed, based on informationdetected by the avoiding action detecting section 24 and positioninformation detected by the position detecting section 26.

As shown in FIG. 1, when there is an abnormality, for example, a hole 72(or an obstacle) in the road 70, the vehicle 20 performs an avoidingaction avoiding the hole 72 before reaching the hole 72. At this time,the avoiding action detecting section 24 detects consecutive turningactions to right and left within a certain time or within a certaindistance.

In step S2, the avoidance position determining section 38 recognizesthat an avoiding action has been performed by the vehicle 20, based onthe detection result of the avoiding action detecting section 24.

In step S3, the avoidance position determining section 38 determines theavoidance position 74 based on the turning position information recordedin the vehicle recording section 36. For example, the avoidance positiondetermining section 38 may determine a start position 76 of the avoidingaction, that is, an initial turning position in a section where theavoiding action has been performed, to be the avoidance position 74.Moreover, the avoidance position determining section 38 may determine anend position 78 of the avoiding action, that is, a final turningposition in the section where the avoiding action has been performed, tobe the avoidance position 74. Moreover, the avoidance positiondetermining section 38 may determine an intermediate position 80 of theavoiding action, that is, an intermediate position between the startposition 76 and the end position 78 of the avoiding action, to be theavoidance position 74. Moreover, the avoidance position determiningsection 38 may determine the whole or part of the section from the startposition 76 to the end position 78 of the avoiding action, to be theavoidance position 74.

In step S4, the information processing section 40 extracts an image inthe avoidance position 74. Now, the information processing section 40extracts image information associated with position information of theavoidance position 74 from the image information recorded in the vehiclerecording section 36 up to a predetermined time before.

In step S5, the control section 42 controls the network communicationsection 28 to transmit the image information of the road surface of theavoidance position 74 and the position information associated with thatimage information.

In step S6, the server 50 performs image analysis, based on the imageinformation of the road surface of the avoidance position 74 transmittedfrom the vehicle 20, and specifies a kind of the abnormality. Due tothis processing, the kind and position of the abnormality are specified.

2. Second Embodiment

As shown in FIG. 4, in the road management system 10 according to asecond embodiment, when an avoiding action has been performed by a firstvehicle 20 a (a first moving body) moving along the road 70, an image ofthe avoidance position 74 is transmitted to the server 50 from a secondvehicle 20 b (a second moving body) moving in the same direction as thefirst vehicle 20 a and approaching the avoidance position 74. Here, atwo-wheeled vehicle is assumed as a kind of the first vehicle 20 a and akind of the second vehicle 20 b. However, the kind of the first vehicle20 a and the kind of the second vehicle 20 b may be a four-wheeledvehicle, not a two-wheeled vehicle. Moreover, the kind of the firstvehicle 20 a and the kind of the second vehicle 20 b may differ. Aconfiguration of the server 50 is the same as the configuration of theserver 50 in the first embodiment.

[2.1 Configurations of First Vehicle 20 a and Second Vehicle 20 b]

Configurations of the first vehicle 20 a and the second vehicle 20 bwill be described using FIG. 5. The configurations of the first vehicle20 a and the second vehicle 20 b are roughly the same as theconfiguration of the vehicle 20 in the first embodiment. In thedescription below, those configurations of the first vehicle 20 a thatare the same as the configurations of the vehicle 20 in the firstembodiment, will be given the same names as in the first embodiment, andwill be assigned with reference symbols adding ‘a’ to the referencesymbols of the first embodiment. Similarly, those configurations of thesecond vehicle 20 b that are the same as the configurations of thevehicle 20 in the first embodiment, will be given the same names as inthe first embodiment, and will be assigned with reference symbols adding‘b’ to the reference symbols of the first embodiment.

Unlike in the first embodiment, the vehicle 20 (the first vehicle 20 aand the second vehicle 20 b) of the second embodiment includes (include)inter-vehicle communication sections 44 a, 44 b. The inter-vehiclecommunication sections 44 a, 44 b each include a communication deviceand an antenna for performing inter-vehicle communication.

[2.2 Processing]

Processing performed by the road management system 10 according to thesecond embodiment will be described using FIG. 6. The processing belowis performed during running of the first vehicle 20 a and the secondvehicle 20 b.

In step S11, an avoidance position determining section 38 a of the firstvehicle 20 a monitors turning action of the first vehicle 20 a based onthe detection result of an avoiding action detecting section 24 a. Now,an information processing section 40 a records, in a vehicle recordingsection 36 a, turning position information indicating the position wherea turning action has been performed, based on the information detectedby the avoiding action detecting section 24 a and the positioninformation detected by a position detecting section 26 a.

In step S12, the avoidance position determining section 38 a recognizesthat an avoiding action has been performed by the first vehicle 20 a,based on the detection result of the avoiding action detecting section24 a.

In step S13, the avoidance position determining section 38 a determinesthe avoidance position 74 based on the turning position informationrecorded in the vehicle recording section 36 a. A method of determiningthe avoidance position 74 is the same as the determining method in stepS3 of the first embodiment.

In step S14, a control section 42 a controls the inter-vehiclecommunication section 44 a to transmit the position informationindicating the avoidance position 74.

In step S15, a control section 42 b of the second vehicle 20 b comparesthe position information received by the inter-vehicle communicationsection 44 b and position information detected by a position detectingsection 26 b, and determines whether or not imaging is to be performedby the second vehicle 20 b. For example, the control section 42 bdetermines imaging is to be performed when the avoidance position 74 isahead on the road 70 where the second vehicle 20 b is running, in arange within a first predetermined distance from the second vehicle 20b. Then, at a time point when the second vehicle 20 b has reached theavoidance position 74 or a position a second predetermined distancebefore the avoidance position 74, the control section 42 b controls animaging section 22 b to image the road surface. Note that in the casewhere, due to imaging being performed constantly or every certainperiod, imaging is already performed by the imaging section 22 b, thecontrol section 42 b extracts an image of the avoidance position 74.

In step S16, an information processing section 40 b associates the imageinformation of the road surface of the avoidance position 74 imaged bythe imaging section 22 b and the position information detected by theposition detecting section 26 b.

In step S17, the control section 42 b controls a network communicationsection 28 b to transmit the image information of the road surface ofthe avoidance position 74 and the position information associated withthat image information.

In step S18, the server 50 performs image analysis, based on the imageinformation of the road surface of the avoidance position 74 transmittedfrom the second vehicle 20 b, and specifies a kind of the abnormality.Due to this processing, the kind and position of the abnormality arespecified.

3. Third Embodiment

As shown in FIG. 7, in the road management system 10 according to athird embodiment, when an avoiding action has been performed by thefirst vehicle 20 a (the first moving body) moving along the road 70, animage of the avoidance position 74 is transmitted to the server 50 fromthe second vehicle 20 b (the second moving body) moving in an oppositedirection to the first vehicle 20 a and approaching the avoidanceposition 74. Here, a two-wheeled vehicle is assumed as the first vehicle20 a and the second vehicle 20 b. However, the first vehicle 20 a andthe second vehicle 20 b may each be a four-wheeled vehicle, not atwo-wheeled vehicle. Moreover, the kind of the first vehicle 20 a andthe kind of the second vehicle 20 b may differ. A configuration of theserver 50 is the same as the configuration of the server 50 in the firstand second embodiments. Moreover, configurations of the first vehicle 20a and the second vehicle 20 b are the same as the configurations of thefirst vehicle 20 a and the second vehicle 20 b in the second embodiment.

Processing performed by the road management system 10 according to thethird embodiment is the same as in the second embodiment. However, instep S17, the control section 42 b preferably controls the networkcommunication section 28 b to add, to the image information and theposition information, information indicating that the second vehicle 20b is moving in an opposite direction to a moving direction of the firstvehicle 20 a. This information means that the avoidance position 74 ispresent in a roadway on an opposite side to a roadway where the secondvehicle 20 b is running.

4. Fourth Embodiment

As shown in FIG. 8, in the road management system 10 according to afourth embodiment, when an avoiding action has been performed by atleast one first vehicle 20 a (first moving body) moving along the road70, an image of the avoidance position 74 is transmitted to the server50 from the second vehicle 20 b (the second moving body) approaching theavoidance position 74. Here, a two-wheeled vehicle is assumed as thefirst vehicle 20 a and the second vehicle 20 b. However, the firstvehicle 20 a and the second vehicle 20 b may each be a four-wheeledvehicle, not a two-wheeled vehicle. Moreover, the kind of the firstvehicle 20 a and the kind of the second vehicle 20 b may differ.

In the fourth embodiment, the server 50 includes a timer 56 and a servertransmitting section 58. The server transmitting section 58 transmitsinformation over a broad region. Moreover, as shown in FIG. 9, thesecond vehicle 20 b includes a broadcast receiving section 46 b thatreceives the information transmitted from the server transmittingsection 58.

[4.1 Processing]

Processing performed by the road management system 10 according to thefourth embodiment will be described using FIG. 10. The processing belowis performed during running of the first vehicle 20 a and the secondvehicle 20 b.

Processing of steps S21-S23 is the same as processing of steps S11-S13of the second embodiment.

In step S24, the control section 42 a of the first vehicle 20 a controlsa network communication section 28 a to transmit position informationindicating the avoidance position 74.

In step S25, the server arithmetic section 52 determines whether imagingis required or not. A determining method will be described below in[4.2].

If it is determined in step S25 that imaging is required, then in stepS26, the server transmitting section 58 transmits the positioninformation indicating the avoidance position 74.

In step S27, the control section 42 b of the second vehicle 20 bcompares the position information received by the broadcast receivingsection 46 b and the position information detected by the positiondetecting section 26 b, and determines whether or not imaging is to beperformed by the second vehicle 20 b. For example, the control section42 b determines imaging is to be performed when the avoidance position74 is ahead on the road 70 where the second vehicle 20 b is running, ina range within a first predetermined distance from the second vehicle 20b. Then, at a time point when the second vehicle 20 b has reached theavoidance position 74 or a position a second predetermined distancebefore the avoidance position 74, the control section 42 b controls theimaging section 22 b to image the road surface. Note that in the casewhere imaging is performed constantly or every certain period by theimaging section 22 b, the control section 42 b extracts an image of theavoidance position 74.

Processing of steps S28-S30 is the same as processing of steps S16-S18of the second embodiment.

[4.2 Method of Determining Whether Imaging is Required or Not]

The method of determining whether imaging is required or not, performedin step S25 of FIG. 10, will be described using FIG. 11. Processingdescribed below is performed each time the server 50 receives positioninformation from the first vehicle 20 a. Here, the avoidance position 74and the number of times of occurrence of the avoiding action arerecorded by the server recording section 54, and elapsed time with aninitial avoiding action as a starting point is clocked by the timer 56.

In step S31, the server arithmetic section 52 determines whether or notposition information of the avoidance position 74 is recorded in theserver recording section 54. If the position information is present(step S31: YES), then processing shifts to step S32. On the other hand,if there is no position information (step S31: NO), then processingshifts to step S36.

In step S32, the server arithmetic section 52 determines whether or notthe elapsed time clocked by the timer 56 is within a predetermined time.If the elapsed time is within the predetermined time (step S32: YES),then processing shifts to step S33. On the other hand, if the elapsedtime exceeds the predetermined time (step S32: NO), then processingshifts to step S38.

In step S33, the server arithmetic section 52 adds 1 to the number oftimes of occurrence recorded in the server recording section 54.Processing shifts to step S34.

In step S34, the server arithmetic section 52 determines whether or notthe number of times of occurrence exceeds a predetermined number oftimes. If the number of times of occurrence exceeds the predeterminednumber of times (step S34: YES), then processing shifts to step S35.Then, in step S35, the server arithmetic section 52 determines thatimaging is required. On the other hand, if the number of times ofoccurrence is within the predetermined number of times (step S34: NO),then processing once ends.

In the case of processing shifting from step S31 to step S36, the serverarithmetic section 52 associates the position information of theavoidance position 74 and an initial value of the number of times ofoccurrence, and records the associated position information and initialvalue in the server recording section 54. Then, in step S37, the serverarithmetic section 52 activates the timer 56 to start clocking ofelapsed time.

In the case of processing shifting from step S32 to step S38, the serverarithmetic section 52 resets the timer 56, and sets, to an initialvalue, the number of times of occurrence recorded in the serverrecording section 54.

[4.3 Modified Example]

In the fourth embodiment, a configuration is adopted whereby the server50 transmits position information over a broad region using the servertransmitting section 58. Instead, a configuration may be adopted wherebythe server 50 transmits position information to a roadside device in aperiphery of the avoidance position 74, and the position information istransmitted to the second vehicle 20 b from the roadside device.

5. Technical Ideas Obtained from Embodiments

Technical ideas understandable from the above-described embodiments andmodified example will be described below.

An aspect of the present invention comprises:

an avoiding action detecting section 24, 24 a that detects an avoidingaction of a moving body (a vehicle 20, a first vehicle 20 a) movingalong a road 70;

a position detecting section 26, 26 a that detects a position of themoving body (the vehicle 20, the first vehicle 20 a);

an avoidance position determining section 38, 38 a that determines anavoidance position 74 where the avoiding action has occurred, based on adetection result of the avoiding action detecting section 24, 24 a and adetection result of the position detecting section 26, 26 a; and

an imaging section 22, 22 b that images a road surface of the avoidanceposition 74. (All Embodiments)

Due to the above-described configuration, the road surface of theavoidance position 74 where a possibility of there being an abnormalityis high is selectively imaged, hence a load of arithmetic processing toperform analysis of the road surface can be suppressed.

An aspect of the present invention may further comprise

a transmitting section (an inter-vehicle communication section 44 a)that transmits position information of the avoidance position 74 to adevice (a second vehicle 20 b) on an outside of the moving body (thefirst vehicle 20 a), wherein

the imaging section 22 b may be provided in the device (the secondvehicle 20 b). (Second Embodiment, Third Embodiment)

The above-described configuration results in that, after the avoidingaction has been performed by the moving body (the first vehicle 20 a),the road surface of the avoidance position 74 can be imaged by thedevice (the second vehicle 20 b) other than the moving body (the firstvehicle 20 a).

In an aspect of the present invention,

the moving body may be a first moving body (the first vehicle 20 a), and

the device may be a second moving body (the second vehicle 20 b)approaching the avoidance position 74. (Second Embodiment, ThirdEmbodiment)

The above-described configuration results in that, after the avoidingaction has been performed by the first moving body (the first vehicle 20a), the road surface of the avoidance position 74 can be imaged by thesecond moving body (the second vehicle 20 b) approaching the avoidanceposition 74.

In an aspect of the present invention,

the device may be the second moving body (the second vehicle 20 b)moving in the same direction as the first moving body (the first vehicle20 a) and approaching the avoidance position 74. (Second Embodiment)

The above-described configuration results in that, after the avoidingaction has been performed by the first moving body (the first vehicle 20a), the road surface of the avoidance position 74 can be imaged by thesecond moving body (the second vehicle 20 b) following the first movingbody (the first vehicle 20 a).

In an aspect of the present invention,

the device may be the second moving body (the second vehicle 20 b)moving in an opposite direction to the first moving body (the firstvehicle 20 a) and approaching the avoidance position 74. (ThirdEmbodiment)

The above-described configuration results in that, after the avoidingaction has been performed by the first moving body (the first vehicle 20a), the road surface of the avoidance position 74 can be imaged by thesecond moving body (the second vehicle 20 b) approaching from in frontof the first moving body (the first vehicle 20 a).

In an aspect of the present invention,

the moving body (the vehicle 20, the first vehicle 20 a, the secondvehicle 20 b) may be a two-wheeled vehicle.

When the moving body (the vehicle 20, the first vehicle 20 a, the secondvehicle 20 b) is a two-wheeled vehicle as in the above-describedconfiguration, it is easy for the avoiding action to be detected. (AllEmbodiments)

In an aspect of the present invention,

a kind of the first moving body (the first vehicle 20 a) may beidentical to a kind of the second moving body (the second moving vehicle20 b). (Second Embodiment, Third Embodiment)

A possibility of the second moving body (the second vehicle 20 b)performing the same avoiding action as the first moving body (the firstvehicle 20 a) is high. Therefore, the above-described configurationenables the image of the road surface of the avoidance position 74 to beutilized by the second moving body (the second vehicle 20 b) too.

An aspect of the present invention may further comprise:

an information processing section 40 that associates image informationof the road surface of the avoidance position 74 imaged by the imagingsection 22 and position information of the avoidance position 74; and

a transmitting section (a network communication section 28) thattransmits, to a server 50 on an outside, the image information and theposition information that have been associated, wherein

the avoiding action detecting section 24, the position detecting section26, the avoidance position determining section 38, the imaging section22, the information processing section 40, and the transmitting section(the network communication section 28) may be provided in the movingbody (the vehicle 20). (First Embodiment)

In an aspect of the present invention,

a configuration may be adopted whereby

in a case that, within a predetermined time, the avoiding action by aplurality of the moving bodies (the first vehicles 20 a) has occurred inthe same avoidance position 74,

the imaging section 22 b images the road surface of the avoidanceposition 74. (Fourth Embodiment)

The above-described configuration results in that, when the avoidingaction by the plurality of moving bodies (first vehicles 20 a) hasoccurred, the road surface of the avoidance position 74 is imaged, hencea road surface where there is an even higher possibility of there beingan abnormality can be imaged, and wasteful imaging and image analysiscan be suppressed.

Note that the road management system according to the present inventionis not limited to the above-mentioned embodiments, and that, of course,a variety of configurations may be adopted without departing from thespirit of the present invention.

What is claimed is:
 1. A road management system comprising a positiondetermining device mounted on a first moving body moving along a roadand an imaging device mounted on a second moving body moving along theroad, the first moving body and the second moving body being provided inplural, wherein the position determining device comprises a firstprocessor that executes first computer-readable instructions stored in afirst memory, the first processor executes the first computer-readableinstructions to cause the position determining device to: determine anavoidance position where an avoiding action has occurred, based onavoidance information indicating that the first moving body has avoidedan abnormality on the road and position information indicating anavoidance position of the first moving body; and externally transmitavoidance position information indicating the avoidance position througha transmitting circuit, and the imaging device comprises a secondprocessor that executes second computer-readable instructions stored ina second memory, and the second processor executes the secondcomputer-readable instructions to cause the imaging device to image witha camera a road surface at the avoidance position indicated by theavoidance position information received through a receiving circuit. 2.The road management system according to claim 1, wherein the secondmoving body moves in a same direction as the first moving body andapproaches the avoidance position.
 3. The road management systemaccording to claim 1, wherein the second moving body moves in anopposite direction to the first moving body and approaches the avoidanceposition.
 4. The road management system according to claim 1, wherein atleast one of the first moving body and the second moving body is atwo-wheeled vehicle.
 5. The road management system according to claim 1,wherein the second processor causes the imaging device to: associateimage information of the road surface of the avoidance position imagedby the camera and the position information of the avoidance position;and transmit, through a transmitting circuit to a server on an outside,the image information and the position information that have beenassociated.
 6. The road management system according to claim 1, whereinthe transmitting circuit of the first moving body and the receivingcircuit of the second moving body are configured to performinter-vehicle communication, and the transmitting circuit of the firstmoving body and the receiving circuit of the second moving body performthe inter-vehicle communication to transmit and receive the avoidanceposition information.
 7. The road management system according to claim1, wherein the transmitting circuit of the first moving body and thereceiving circuit of the second moving body are configured to performcommunication with a server, the transmitting circuit of the firstmoving body transmits the avoidance position information to the server,and the receiving circuit of the second moving body receives theavoidance position information from the server.
 8. The road managementsystem according to claim 7, wherein in a case that, within apredetermined time, the avoiding action has been performed by more thanone said first moving body in a same avoidance position, the servertransmits the avoidance position information to the receiving circuit ofthe second moving body, and the second processor executes the secondcomputer-readable instructions to cause the imaging device to image withthe camera the road surface at the avoidance position indicated by theavoidance position information received through the receiving circuit.